国外找的arduino循迹智能车安装方法及代码

循迹智能车安装方法


arduino单片机源程序如下:

1. /* Arduino Object Avoidance Car
   
2. * By Kevin Cho
   
3. *
   
4. * Inspired by http://www.instructables.com/id/Simple-Arduino-and-HC-SR04-Example/
   
5. * PWM setup value from :http://playground.arduino.cc/Code/PwmFrequency
   
6. *
   
7. * This code allows an Arduino Smart employing HC-SR04 Ping distance sensor to identify an obstacle on its path and turns
   
8. * left to avoid it.
   
9. *
   
10. * ===== Ultrasonic Sensor (HC-SR04) =====
    
11. * pins:
    
12. * Echo to digital input (see pin assignment below)
    
13. * Trig to digital input (see ping assignmanet below)
    
14. *
    
15. * ===== motor output =====
    
16. * 3 outputs for the left motor control
    
17. * 3 outputs for the right motor control
    
18. *
    
19. * See below for pin assignment for Arduino digital ports.
    
20. * PWM control must be on PWM pins 3, 5, 6, 9, 10 and 11.
    
21. */
    
22. 
    
23. //Pin assignment
    
24. const int usTrigPin = 3; //connects to Arduino digital pin #2
    
25. const int usEchoPin = 4; //connects to Arduino digital pin #3
    
26. 
    
27. const int lMotPos = 6;  //left motor(+)
    
28. const int lMotNeg = 7;  //left motor(-1)
    
29. 
    
30. const int rMotNeg = 8;  //right motor (-1)
    
31. const int rMotPos = 11; //right motor (+1)
    
32. 
    
33. const int led = 13;      //Arduino built-in led. No connection required
    
34. 
    
35. //operational parameters
    
36. const int paceOfSound = 29.15;  //pace of sound = 1/speed of sound
    
37.                                 //              = 1/0.03435 cm/ss
    
38.                                 //              = 29.15 us/cm
    
39. 
    
40. //CALIBRATION
    
41. int turningPoint = 20;  //turn when an obstacle is within 20cm (approx 8in)
    
42. 
    
43. //wait 100msec until next sensor check.
    
44. int sensDelay = 100;
    
45. 
    
46. //used only in testing phase
    
47. boolean DEBUG = false;    //change to true when debuging. See serial monitor for log
    
48. 
    
49. // the setup routine runs once when you press reset or power on
    
50. void setup() {
    
51.    //set digital pin modes for ultrasonic sensors
    
52.   pinMode(usTrigPin, OUTPUT);
    
53.   pinMode(usEchoPin, INPUT);
    
54. 
    
55.   //set digital pin mode for built-in led
    
56.   pinMode(led, OUTPUT);
    
57. 
    
58.   if (DEBUG) Serial.begin (115200); //set the serial monitor transfer speed
    
59.   
    
60.   delay (1000);  //wait 1 sec before going
    
61. }
    
62. 
    
63. 
    
64. void loop() {  
    
65. 
    
66.   int distance;
    
67.   
    
68.   // call getDistance to get the distance to an obstacle. Ignore anything farther than 100cm
    
69.   distance = getDistance();
    
70.   
    
71.   if (distance >= turningPoint || distance <= 0) {
    
72.       goForward();
    
73.       digitalWrite(led, LOW);  //led off
    
74.   } else {
    
75.       if (DEBUG) {
    
76.         Serial.println("Alert: Turn left");
    
77.       }
    
78.    
    
79.       turnLeft();
    
80.       digitalWrite(led, HIGH);  //led on
    
81.   }
    
82.   
    
83.   delay(sensDelay);
    
84. }
    
85. 
    
86. int getDistance() {
    
87.   
    
88.   long duration, distance;
    
89.   
    
90.   digitalWrite(usTrigPin, LOW);  // Added this line
    
91.   delayMicroseconds(2); // Added this line
    
92. 
    
93.   //send 10 micro second pulse to trigger
    
94.   digitalWrite(usTrigPin, HIGH);
    
95.   delayMicroseconds(10); // Added this line per spec (spec says at least 10us)
    
96.   digitalWrite(usTrigPin, LOW);
    
97. 
    
98.   //Below step wait for HIGH upto a second (default) on the Echo pin before timing out.
    
99.   duration = pulseIn(usEchoPin, HIGH);   //wait for HIGH
    
100.                                          
     
101.   //calculate the distance in cm
     
102.   distance = (duration/2) / paceOfSound;
     
103. 
     
104.   //We don't care about distance of more than 100cm
     
105.   if (distance >= 100 || distance <= 0){
     
106.       if (DEBUG) Serial.println("getDistance: Out of range");
     
107.       return 0;
     
108.   } else {
     
109.       if (DEBUG) {
     
110.         Serial.print("getDistance: ");
     
111.         Serial.print(distance);
     
112.         Serial.println(" cm");
     
113.       }
     
114.       return distance;
     
115.   }
     
116. }  
     
117. 
     
118. void goForward ()
     
119. {
     
120.   digitalWrite (lMotNeg, LOW);
     
121.   digitalWrite (lMotPos, HIGH);   
     
122.   digitalWrite (rMotNeg, LOW);   
     
123.   digitalWrite (rMotPos, HIGH);
     
124. }
     
125. 
     
126. void turnLeft ()
     
127. {
     
128.   digitalWrite (lMotNeg, HIGH);  
     
129.   digitalWrite (lMotPos, LOW);
     
130.   digitalWrite (rMotNeg, LOW);   
     
131.   digitalWrite (rMotPos, HIGH);
     
132. }
     
133. 
     
134. void turnRight ()
     
135. {
     
136.   digitalWrite (lMotNeg, LOW);  
     
137.   digitalWrite (lMotPos, HIGH);
     
138.   digitalWrite (rMotNeg, HIGH);   
     
139. ……………………
     
140. 
     
141. …………限于本文篇幅 余下代码请从51黑下载附件…………
     

复制代码

所有资料51hei提供下载:
小车安装.rar (11.3 MB, 下载次数: 20)

2018-4-22 12:35 上传

点击文件名下载附件
下载积分: 黑币 -5

源代码.rar (3.61 KB, 下载次数: 16)

2018-4-22 12:35 上传

点击文件名下载附件
下载积分: 黑币 -5